Metod och arrangemang för att lokalisera och plocka upp föremål från en bärare

摘要

The invention relates to a method for locating and picking up objects that are placed on a carrier. A scanning operation is performed over the carrier. The scanning is performed by a line laser scanner whose results are used to generate a virtual surface that represents the area that has been scanned. The virtual surface is compared to a pre-defined virtual object corresponding to an object to be picked from the carrier, whereby a part of the virtual surface that matches the pre-defined virtual object is identified. A robot arm is then caused to move to a location corresponding to the identified part of the virtual surface and pick up an object from the carrier at this location.